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NASA NTRS1992

Automating sky object classification in astronomical survey images

We describe the application of machine classification techniques to the development of an automated tool for the reduction of a large scientific data set. The 2nd Palomer Observatory Sky Survey is nearly completed. This survey provides comprehensive coverage of the northern celestial hemisphere in the form of photographic plates. The plates are being transformed into digitized images whose quality will probably not be surpassed in the next ten to twenty years. The images are expected to contain on the order of 10(exp 7) galaxies and 10(exp 8) stars. Astronomers wish to determine which of these sky objects belong to various classes of galaxies and stars. The size of this data set precludes manual analysis. Our approach is to develop a software system which integrates the functions of independently developed techniques for image processing and data classification. Digitized sky images are passed through image processing routines to identify sky objects and to extract a set of features for each object. These routines are used to help select a useful set of attributes for classifying sky objects. Then GID3* and O-BTree, two inductive learning techniques, learn classification decision trees from examples. These classifiers will be used to process the rest of the data. This paper gives an overview of the machine learning techniques used, describes the details of our specific application, and reports the initial encouraging results. The results indicate that our approach is well-suited to the problem. The primary benefits of the approach are increased data reduction throughput and consistency of classification. The classification rules which are the product of the inductive learning techniques will form an object, examinable basis for classifying sky objects. A final, not to be underestimated benefit is that astronomers will be freed from the tedium of an intensely visual task to pursue more challenging analysis and interpretation problems based on automatically cataloged data.

Fayyad, Usama M.↗

NASA NTRS1993

Experimental object-level strategic control with cooperating manipulators

This article presents the high-level control module and user interface of the Dynamic and Strategic Control of Cooperating Manipulators (DASCCOM) project at Stanford University's Aerospace Robotics Laboratory. In addition to cooperative dynamic control, DASCCOM incorporates real-time vision-ased feedback, a novel strategic programming technique, and an iconic 'object-only' graphical user interface. By focusing on the vertical integration problem, we are examining not only these subsystems, but also their interfaces and interactions. The control system implements a multilevel hierarchical structure interconnected via a real-time network. At the highest level, a mouse-driven graphical user interface allows an operator to direct the activities of the system conceptually. Strategic command is provided by an event-driven finite state machine. This methodology provides a powerful yet flexible technique for managing concurrent system interactions. The dynamic controller implements object impedance control - an extension of Neville Hogan's impedance control concept to cooperative multiple-arm manipulation of a single object. This article concentrates on user interfacing techniques and strategic programming capabilities. These modules allow the user to directly specify conceptual object relationships. Experimental results are presented, showing the system locating and identifying a moving object, 'catching' it, and performing a simple cooperative assembly. Each of these operations is executed autonomously, with only object-level task-specification direction from a remote operator.

Schneider, Stanley A.↗

NASA NTRS1993

Integrating end-to-end threads of control into object-oriented analysis and design

Current object-oriented analysis and design methodologies fall short in their use of mechanisms for identifying threads of control for the system being developed. The scenarios which typically describe a system are more global than looking at the individual objects and representing their behavior. Unlike conventional methodologies that use data flow and process-dependency diagrams, object-oriented methodologies do not provide a model for representing these global threads end-to-end. Tracing through threads of control is key to ensuring that a system is complete and timing constraints are addressed. The existence of multiple threads of control in a system necessitates a partitioning of the system into processes. This paper describes the application and representation of end-to-end threads of control to the object-oriented analysis and design process using object-oriented constructs. The issue of representation is viewed as a grouping problem, that is, how to group classes/objects at a higher level of abstraction so that the system may be viewed as a whole with both classes/objects and their associated dynamic behavior. Existing object-oriented development methodology techniques are extended by adding design-level constructs termed logical composite classes and process composite classes. Logical composite classes are design-level classes which group classes/objects both logically and by thread of control information. Process composite classes further refine the logical composite class groupings by using process partitioning criteria to produce optimum concurrent execution results. The goal of these design-level constructs is to ultimately provide the basis for a mechanism that can support the creation of process composite classes in an automated way. Using an automated mechanism makes it easier to partition a system into concurrently executing elements that can be run in parallel on multiple processors.

Mccandlish, Janet E.↗

NASA NTRS1989

Generic POCC architecture: Revised recommended refinements and object-oriented interfaces

This document is a sequel to the report entitled Generic POCC Architectures, dated April 5, 1989, prepared by CTA under Contract NAS5-31500, Task 28-11600. That document presented a generic architecture based upon current technology, and a series of three refinements based on object-oriented analysis principles and expectations for POCC evolution. The current document revisits the object-oriented analysis of POCC's. We have reassessed the functional groupings that best adhere to object-oriented principles and have revised the recommended architecture accordingly. We present an updated view of the recommended generic POCC architecture using the same graphical models as the previous document: entity-relationship diagrams, dataflow diagrams, and composition graphs. In addition, we present another view in the form of entity-interface diagrams (EID's). EID's may be viewed as a precursor to object diagrams which are the basic construct of the general object-oriented design (GOOD) methodology. The entity-interface diagrams, together with their textual annotations, constitute our specification of object-oriented interfaces in the generic architecture.

Source record↗

NASA NTRS1994

Object-oriented Technology for Compressor Simulation

An object-oriented basis for interdisciplinary compressor simulation can, in principle, overcome several barriers associated with the traditional structured (procedural) development approach. This paper presents the results of a research effort with the objective to explore the repercussions on design, analysis, and implementation of a compressor model in an object oriented (OO) language, and to examine the ability of the OO system design to accommodate computational fluid dynamics (CFD) code for compressor performance prediction. Three fundamental results are that: (1) the selection of the object oriented language is not the central issue; enhanced (interdisciplinary) analysis capability derives from a broader focus on object-oriented technology; (2) object-oriented designs will produce more effective and reusable computer programs when the technology is applied to issues involving complex system inter-relationships (more so than when addressing the complex physics of an isolated discipline); and (3) the concept of disposable prototypes is effective for exploratory research programs, but this requires organizations to have a commensurate long-term perspective. This work also suggests that interdisciplinary simulation can be effectively accomplished (over several levels of fidelity) with a mixed language treatment (i.e., FORTRAN-C++), reinforcing the notion the OO technology implementation into simulations is a 'journey' in which the syntax can, by design, continuously evolve.

Drummond, C. K.↗

NASA NTRS1995

The faint limit of the Hubble Space Telescope faint object spectrograph and rejection of the cosmic-ray background

The faintest object which can be observed with the Hubble Space Telescope (HST) Faint Object Spectrograph (FOS) is set by the detector cosmic-ray background and not by object flux. We use data from Beaver and Lyons to show that 48% of the background counts are from cosmic rays which each generate a near instantaneous burst of two or more counts. Setting the FOS threshold parameter REJLIM = 1, which rejects all frames with more than one count increases the ratio of signal-to-dark counts (S/D) by a factor of 1.94, regardless of the frame time or the object signal, because half of the dark counts which arrive in single counts (from either cosmic-ray bursts or thermal dark current photoemission) are rejected at the same rate as the object signal. But the signal-to-noise ratio (SNR proportional to S/square root of S + D) increases by at most a factor of 1.35, and for realistic parameters and taking into account dead time, we expect a gain in SNR of only 1.18. If a diode has failed and now emits noise, no data at all will be recorded. The chance of this occurring is approximately = 10% , and for this reason we do not recommend the use of REJLIM. The two-point correlation function of dark counts per pixel has strong peaks every four pixels, caused by the action of quarter-stepping on the counts from large bursts. The counts from such bursts spread over at least 80-100 diodes, and we show that such bursts can be rejected during data reduction if the data are recorded in RAPID mode with individual exposures of about 35 seconds. The SNR of the spectrum can also be improved by weighting each exposure by its SNR (a function ofthe mean dark count rate at that time), since dark varies by a factor of 2 around an orbit. These two procedures together increase the SNR by a factor of 1.1.3 (a 28% gain in exposure time) in regions of a spectrum where the object is much fainter than the background. We find that the Ly-alpha and O I sky emission lines give at most 4 (counts/array/s/sq arcsec), and typically half this number. With a small frame time and a small entrance aperture, these counts cause REJLIM = 1 to reject only a few percent of the data. We discuss only the HST FOS blue side detector, but the same ideas apply to any photon counter which records bursts of noise, and the calculations resemble those for the loss of signal due to coincidences in photon counters. In the ideal photon counter the dark counts are readily distinguished from photons. One way to do this is to add detectors which records only dark current, so that every cosmic ray produces more than one count and the instrument can be operated in an anti-coincidence mode.

Tytler, David↗

NASA NTRS1995

Robust Quantitative Measurement of Flows and Transparent or Highly Reflective Objects

The liquid crystal point diffraction interferometer (LCPDI) is a new instrument that has been developed for the measurement of phase objects. The LCPDI uses the compact, robust design of Linnik's point diffraction interferometer and adds to it phase stepping capability for quantitative interferogram analysis. The result is a compact, simple to align, environmentally insensitive interferometer capable of accurately measuring optical wave-fronts. A solid state camera provides very high data density and automated data reduction. The instrument can measure either transparent objects like fluids and lenses, or highly reflective opaque objects like mirrors. In the former case, the refractive index distribution is measured and then related to various properties like temperature, density, chemical composition, or thickness. In the latter case, the measured phase distribution is related to the object shape. The objects measured must be stationary or quasisteady state because the measurement requires the acquisition of several frames of image data during which time the object's properties must not have changed. The data acquisition time depends on the speed of the frame grabber and the required number of data frames. Typically, three to five frames taking 1 to 2 seconds are required. The potential for faster data acquisition exists.

Mercer, Carolyn R.↗

NASA NTRS1993

First Ultraviolet Spectropolarimetry of Radio-Selected BL Lacertae Objects

We present ultraviolet spectropolarimetry of the BL Lac objects OJ 287 and 0754+100 (0I 090.4) acquired with the Faint Object Spectrograph of the Hubble Space Telescope. These are the first such observations of radio-selected BL Lac objects and the polarimetry spans the wavelength range 1580-3300 A in the observer's frame. Neither object exhibited emission-line features in their UV spectra. OJ 287 was very faint during the UV observations (V approximately 16). The UV linear polarization of this object was approximately 20%. There is no indication that the degree of polarization or the polarization position angle varies with wavelength. Nearly simultaneous optical ground-based measurements show that the polarization does not significantly change with wavelength out to approximately 8000 A. The UV and optical polarization of 0754+100 was approximately 8% and also wavelength-independent during the epoch of observation. These observations confirm that the synchrotron emission that dominates the optical continuum also dominates in the ultraviolet in these two BL Lac objects. There is no evidence for significant contributions to the UV/optical flux by other emission components, and we set limits on the brightness of nonsynchrotron continuum components.

Smith, Paul S.↗

NASA NTRS2001

Planning of reach-and-grasp movements: effects of validity and type of object information

Individuals are assumed to plan reach-and-grasp movements by using two separate processes. In 1 of the processes, extrinsic (direction, distance) object information is used in planning the movement of the arm that transports the hand to the target location (transport planning); whereas in the other, intrinsic (shape) object information is used in planning the preshaping of the hand and the grasping of the target object (manipulation planning). In 2 experiments, the authors used primes to provide information to participants (N = 5, Experiment 1; N = 6, Experiment 2) about extrinsic and intrinsic object properties. The validity of the prime information was systematically varied. The primes were succeeded by a cue, which always correctly identified the location and shape of the target object. Reaction times were recorded. Four models of transport and manipulation planning were tested. The only model that was consistent with the data was 1 in which arm transport and object manipulation planning were postulated to be independent processes that operate partially in parallel. The authors suggest that the processes involved in motor planning before execution are primarily concerned with the geometric aspects of the upcoming movement but not with the temporal details of its execution.

Cues↗

NASA NTRS2006

Cosmic Ray Mantle Visibility on Kuiper Belt Objects

Optically red objects constitute the dynamically cold, old component of the Classical Kuiper Belt (40 - 47 AU) with heliocentric orbits of low eccentricity and inclination. The red colors likely arise from primordial mixed ices processed by irradiation to meters in surface depth over the past four billion years, since the time of giant planet migration and Kuiper Belt stirring, at relatively moderate dosages of 60 gigarads provided by galactic cosmic ray protons and heavier ions. The red cosmic ray mantle is uniformly visible on the cold classical objects beneath a minimally thin eroded layer of more neutrally colored material arising from cumulative effects of heliospheric particle irradiation. The radiation fluxes are lowest in the middle heliospheric region containing the Classical Kuiper Belt and increase from there both towards and away from the Sun. Despite increasing irradiation at various times of solar system history from increases in solar and interstellar ion fluxes, the red object region has apparently never reached sufficiently high dosage levels to neutralize in color the red mantle material. Erosion processes, including plasma sputtering and micrometeroid impacts, act continuously to reduce thickness of the upper neutral crust and expose the cosmic ray mantle. A deeper layer at tens of meters and more may consist of relatively unprocessed ices that can erupt to the surface by larger impacts or cryovolcanism and account for brighter surfaces of larger objects such as 2003 UB313. Surface colors among the Kuiper Belt and other icy objects of the outer solar system are then a function, assuming uniform primordial composition, of relative thickness for the three layers and of the resurfacing age dependent on the orbital and impact history of each object.

Cooper, John F.↗

NASA NTRS1989

Apparatus and method for lapping an edge surface of an object

An apparatus for lapping an edge surface of an object comprises a block having a side adapted to engage a wide surface of an object, adjustable spacers disposed on the block and adapted to engage a lap plate, and a weighted spring disposed on the block for urging the spacers and the object edge surface towards the lap plate. A method for lapping comprises setting surfaces of adjustable spacers disposed on a block to be substantially the same distance from the block, affixing a wide surface of an object to the block, urging an edge surface of the object and the spacers towards a lap plate, lapping the edge of the object, inspecting the edge for parallelism to a reference line, resetting the spacers and relapping the edge surface.

Rossi, Vito N.↗

NASA NTRS2009

Sizing of "Mother Ship and Catcher" Missions for LEO Small Debris and for GEO Large Object Capture

Most LEO debris lies in a limited number of inclination "bands" associated with specific useful orbits. Objects in such narrow inclination bands have all possible Right Ascensions of Ascending Node (RAANs), creating a different orbit plane for nearly every piece of debris. However, a low-orbiting satellite will always phase in RAAN faster than debris objects in higher orbits at the same inclination, potentially solving the problem. Such a low-orbiting base can serve as a "mother ship" that can tend and then send small, disposable common individual catcher/deboost devices--one for each debris object--as the facility drifts into the same RAAN as each higher object. The dV necessary to catch highly-eccentric orbit debris in the center of the band alternatively allows the capture of less-eccentric debris in a wider inclination range around the center. It is demonstrated that most LEO hazardous debris can be removed from orbit in three years, using a single LEO launch of one mother ship--with its onboard magazine of freeflying low-tech catchers--into each of ten identified bands, with second or potentially third launches into only the three highest-inclination bands. The nearly 1000 objects near the geostationary orbit present special challenges in mass, maneuverability, and ultimate disposal options, leading to a dramatically different architecture and technology suite than the LEO solution. It is shown that the entire population of near-GEO derelict objects can be gathered and tethered together within a 3 year period for future scrap-yard operations using achievable technologies and only two earth launches.

Bacon, John B.↗

NASA NTRS2012

Method for Statically Checking an Object-oriented Computer Program Module

A method for statically checking an object-oriented computer program module includes the step of identifying objects within a computer program module, at least one of the objects having a plurality of references thereto, possibly from multiple clients. A discipline of permissions is imposed on the objects identified within the computer program module. The permissions enable tracking, from among a discrete set of changeable states, a subset of states each object might be in. A determination is made regarding whether the imposed permissions are violated by a potential reference to any of the identified objects. The results of the determination are output to a user.

Bierhoff, Kevin M.↗

NASA NTRS2017

Refinement of Objective Motion Cueing Criteria Investigation Based on Three Flight Tasks

The objective of this paper is to refine objective motion cueing criteria for commercial transport simulators based on pilots' performance in three flying tasks. Actuator hardware and software algorithms determine motion cues. Today, during a simulator qualification, engineers objectively evaluate only the hardware. Pilot inspectors subjectively assess the overall motion cueing system (i.e., hardware plus software); however, it is acknowledged that pinpointing any deficiencies that might arise to either hardware or software is challenging. ICAO 9625 has an Objective Motion Cueing Test (OMCT), which is now a required test in the FAA's part 60 regulations for new devices, evaluating the software and hardware together; however, it lacks accompanying fidelity criteria. Hosman has documented OMCT results for a statistical sample of eight simulators which is useful, but having validated criteria would be an improvement. In a previous experiment, we developed initial objective motion cueing criteria that this paper is trying to refine. Sinacori suggested simple criteria which are in reasonable agreement with much of the literature. These criteria often necessitate motion displacements greater than most training simulators can provide. While some of the previous work has used transport aircraft in their studies, the majority used fighter aircraft or helicopters. Those that used transport aircraft considered degraded flight characteristics. As a result, earlier criteria lean more towards being sufficient, rather than necessary, criteria for typical transport aircraft training applications. Considering the prevalence of 60-inch, six-legged hexapod training simulators, a relevant question is "what are the necessary criteria that can be used with the ICAO 9625 diagnostic?" This study adds to the literature as follows. First, it examines well-behaved transport aircraft characteristics, but in three challenging tasks. The tasks are equivalent to the ones used in our previous experiment, allowing us to directly compare the results and add to the previous data. Second, it uses the Vertical Motion Simulator (VMS), the world's largest vertical displacement simulator. This allows inclusion of relatively large motion conditions, much larger than a typical training simulator can provide. Six new motion configurations were used that explore the motion responses between the initial objective motion cueing boundaries found in a previous experiment and what current hexapod simulators typically provide. Finally, a sufficiently large pilot pool added statistical reliability to the results.

motion simulation↗

NASA NTRS2019

Estimating Drag and Heating Coefficients for Hollow Reentry Objects in Transitional Flow Using DSMC

In NASA’s Object Reentry Survival Analysis Tool (ORSAT), aerodynamic drag and aerothermal heating coefficients are computed for each of the free-molecular, continuum, and transitional flow regimes using analytical and semi-analytical methods. These methods are typically limited to convex, blunt objects (such as spheres) and are applied to other objects such as boxes and cylinders using multiplicative “shape factors” to account for the different behavior. Previous literature has analyzed the aerodynamic and aerothermodynamic properties of flow around sharp-edged objects like boxes and cylinders in transitional flow, though only those objects with solid external boundaries. However, many reentry objects we have encountered in real spacecraft have been hollow (i.e., with the potential to allow flow through them). We present here preliminary results from analyses performed using the NASA Direct Simulation Monte Carlo (DSMC) Analysis Code (DAC) on hollow cylinders and boxes (with varying wall thickness-diameter ratio).

Marichalar, Jeremiah J.↗

NASA NTRS2018

Proprioceptive Inference for Dual-Arm Grasping of Bulky Objects Using RoboSimian

This work demonstrates dual-arm lifting of bulky objects based on inferred object properties (center of mass (COM) location, weight, and shape) using proprioception (i.e. force torque measurements). Data-driven Bayesian models describe these quantities, which enables subsequent behaviors to depend on conﬁdence of the learned models. Experiments were conducted using the NASA Jet Propulsion Laboratory’s (JPL) RoboSimian to lift a variety of cumbersome objects ranging in mass from 7kg to 25kg. The position of a supporting second manipulator was determined using a particle set and heuristics that were derived from inferred object properties. The supporting manipulator decreased the initial manipulator’s load and distributed the wrench load more equitably across each manipulator, for each bulky object. Knowledge of the objects came from pure proprioception (i.e. without reliance on vision or other exteroceptive sensors) throughout the experiments.

Backes, Paul↗

NASA NTRS2020

Object and Gas Source Detection with Robotic Platforms in Perceptually-Degraded Environments

In exploration-oriented robotic missions for disaster relief in unknown subterranean environments, it is of prime importance for a human supervisor to rapidly gain situational awareness of salient objects within the environment. In this paper we present an automated object detection pipeline that is adaptable to heterogeneous robots with arbitrary sensor configurations. It has been deployed in time-critical scenarios with multiple collaborative robots in a variety of demanding underground environments. For visually observable objects, detections are made in both the visible and thermal spectra using a state-of-the-art machine learning framework for object detection and classification. Our pipeline can be rapidly adapted to a specific task by using a small, structured dataset to fine-tune a pre-trained convolutional neural network (CNN). Relative localization is separated from the CNN for speed of operation. A robust architecture for localization is used with outlier rejection and a hierarchy of fall-back distance measurement methods. Point-source objects such as gas and WiFi hotspots can also be detected, by tracking signal strength over time and presenting an intuitive visualization on a map. Observations of each object types are presented to the operator in ranked confidence order for final evaluation.

Agha-mohammadi, Ali-akbar↗

NASA NTRS2022

Registering Articulated Objects With Human-in-the-loop Corrections

Remotely programming robots to execute tasks often relies on registering objects of interest in the robot’s environment. Frequently, these tasks involve articulating objects such as opening or closing a valve. However, existing human-in-the-loop methods for registering objects do not consider articulations and the corresponding impact to the geometry of the object, which can cause the methods to fail. In this work, we present an approach where the registration system attempts to automatically determine the object model, pose, and articulation for user-selected points using a nonlinear iterative closest point algorithm. When the automated fitting is incorrect, the operator can iteratively intervene with corrections after which the system will refit the object. We present an implementation of our fitting procedure and evaluate it with a user study that shows that it can improve user performance, in measures of time on task and task load, ease of use, and usefulness compared to a manual registration approach. We also present a situated example that demonstrates the integration of our method in an end-to-end system for articulating a remote valve.

teleoperation↗